Error Prediction for SINSGPS after GPS Outage Based on Hybrid KF-UKF
Joint Authors
Sun, Tingting
Chu, Hairong
Jia, Hongguang
Zhang, Yue
Zhang, Baiqiang
Guo, Lihong
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-28
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The performance of MEMS-SINS/GPS integrated system degrades evidently during GPS outage due to the poor error characteristics of low-cost IMU sensors.
The normal EKF is unable to estimate SINS error accurately after GPS outage owing to the large nonlinear error caused by MEMS-IMU.
Aiming to solve this problem, a hybrid KF-UKF algorithm for real-time SINS/GPS integration is presented in this paper.
The linear and nonlinear SINS error models are discussed, respectively.
When GPS works well, we fuse SINS and GPS with KF with linear SINS error model using normal EKF.
In the case of GPS outage, we implement Unscented Transform to predict SINS error covariance with nonlinear SINS error model until GPS signal recovers.
In the simulation test that we designed, an evident accuracy improvement in attitude and velocity could be noticed compared to the normal EKF method after the GPS signal recovered.
American Psychological Association (APA)
Zhang, Baiqiang& Chu, Hairong& Sun, Tingting& Jia, Hongguang& Guo, Lihong& Zhang, Yue. 2015. Error Prediction for SINSGPS after GPS Outage Based on Hybrid KF-UKF. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073293
Modern Language Association (MLA)
Zhang, Baiqiang…[et al.]. Error Prediction for SINSGPS after GPS Outage Based on Hybrid KF-UKF. Mathematical Problems in Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1073293
American Medical Association (AMA)
Zhang, Baiqiang& Chu, Hairong& Sun, Tingting& Jia, Hongguang& Guo, Lihong& Zhang, Yue. Error Prediction for SINSGPS after GPS Outage Based on Hybrid KF-UKF. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073293
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073293